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SYS_MC_EST_GROUP mark LPE unsupported and update airframes (#11925)

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This commit is contained in:
Daniel Agar
2019-04-29 11:50:36 -04:00
committed by GitHub
parent 2142459027
commit f032d0d9fc
17 changed files with 20 additions and 74 deletions
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src/modules/commander/PreflightCheck.cpp
+9 -2
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@@ -925,8 +925,15 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
/* ---- Navigation EKF ---- */
// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
int32_t estimator_type;
param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
int32_t estimator_type = -1;
if (status.is_rotary_wing && !status.is_vtol) {
param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
} else {
// EKF2 is currently the only supported option for FW & VTOL
estimator_type = 2;
}
if (estimator_type == 2) {
// don't report ekf failures for the first 10 seconds to allow time for the filter to start